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Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators
, Article Robotica ; Volume 31, Issue 7 , 2013 , Pages 1073-1084 ; 02635747 (ISSN) ; Zohoor, H ; Korayem, M. H ; Sharif University of Technology
2013
Abstract
Discrete kinematic synthesis of discretely actuated hyper-redundant manipulators is a new practical problem in robotics. The problem concerns with determining the type of each manipulator module from among several specific types, so that the manipulator could reach several specified target frames with the lowest error. This paper suggests using a breadth-first search method and a workspace mean frame to solve this problem. To reduce errors, two heuristic ideas are proposed: two-by-two searching method and iteration. The effectiveness of the proposed method is verified through several numerical problems
A new obstacle avoidance method for discretely actuated hyper-redundant manipulators
, Article Scientia Iranica ; Volume 19, Issue 4 , August , 2012 , Pages 1081-1091 ; 10263098 (ISSN) ; Zohoor, H ; Habibnejad Korayem, M ; Sharif University of Technology
Elsevier
2012
Abstract
In this paper, a new method is proposed for solving the obstacle avoidance problem of discretely actuated hyper-redundant manipulators. In each step of the solution, the closest collision to the base is removed and then the configuration of the next part of the manipulator is modified without considering the obstacles. This process is performed repeatedly until no collision is found. The Suthakorn method is applied to solve the inverse kinematics problem. Two new ideas are proposed to reduce the errors of this method: the two-by-two searching method, and iterations. To verify the proposed method, some problems are solved numerically for 2D and 3D manipulators, each in two different obstacle...
A new motion planning method for discretely actuated hyper-redundant manipulators
, Article Robotica ; February , 2015 ; 02635747 (ISSN) ; Zohoor, H ; Habibnejad Korayem, M ; Sharif University of Technology
Cambridge University Press
2015
Abstract
A hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. The removing first collision (RFC) method, which is originally proposed for solving the inverse kinematic...
A new motion planning method for discretely actuated hyper-redundant manipulators
, Article Robotica ; Volume 35, Issue 1 , 2017 , Pages 101-118 ; 02635747 (ISSN) ; Zohoor, H ; Habibnejad Korayem, M ; Sharif University of Technology
Cambridge University Press
2017
Abstract
A hyper-redundant manipulator is made by mounting the serial and/or parallel mechanisms on top of each other as modules. In discrete actuation, the actuation amounts are a limited number of certain values. It is not feasible to solve the kinematic analysis problems of discretely actuated hyper-redundant manipulators (DAHMs) by using the common methods, which are used for continuous actuated manipulators. In this paper, a new method is proposed to solve the trajectory tracking problem in a static prescribed obstacle field. To date, this problem has not been considered in the literature. The removing first collision (RFC) method, which is originally proposed for solving the inverse kinematic...